Fixed bug with the TranslationXYOrientation3D would set the x value of the vector to the y value instead of the x value as expected.
Merge pull request #259 from alexhenning/master

Fixed bug with the TranslationXYOrientation3D
fixed ikfast solver when free joint is circular (thanks to Chris Dellin)
Merge branch 'master' of https://github.com/rdiankov/openrave
fixed free param checking
add GetRobot(object)
Merge branch 'production' of https://github.com/rdiankov/openrave into cuong
expose several planningparameter functions to openravepy